为实现针对粗糙壁面的低噪声爬行机器人,对生物足部特性探讨研究,分析了一种粗糙壁面爬行机器人的机械结构及其运动学原理,利用仿生四杆机构设计主体爬行机构,足尖采用锋利的爪钩结构,单足由多足趾组成,足趾为具备局部自由度的弹性结构,对粗糙墙壁面具有自适应性,设计完成粗糙壁面爬行机器人的样机,并深入分析足尖切入粗糙壁面角度对攀爬可靠性的影响.最终通过实验分析,验证了爪钩的足部结构设计、材料选择的合理性.%In order to develop a low-noise climbing robot for a rough wall, research was done on the characteristics of an insecta foot, and a climbing robots mechanical structure and kinematics were analyzed. The main crawling institutions were designed by a kind of bionic four-bar linkage. Spines were made of sharp claw hooks and the feet were composed of a number of toes which were of flexible structure with local degrees of freedom, adapting well to a rough wall. The characteristics of rough wall climbing were studied. A prototype model was built, and an analysis was made on the influence of the angle of spine inserting into the rough wall on the reliability of climbing. The experimental study indicates that the spine planning, structural design, and material selection are reasonable.
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